What does pose smoothing do?

I have put zed2i on the drone but pose jumps have confused flight controller unit, then I turned on tracking_parameters.enable_pose_smoothing = True but now there seems to be a lag.

What does exactly pose smoothing do? Are there any suggested parameters for drone flight? Thanks

Hi @tyrellcorp
enable_pose_smoothing is mostly used in AR applications to smooth the estimated position of the camera and reduce “visual vibrations”.